version: 66.04
glider: 139
mission: 3
dive: 29
start: 2 5 109 21 42 40
data:
$ID,139
$MISSION,3
$DIVE,29
$D_SURF,6
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$D_NO_BLEED,90
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,190
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51904
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,50000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1281785.6
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2855
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2220
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.263241
$PRESSURE_SLOPE,0.000116328
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8723097
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,212736,2108.976,-15809.065,72,1.2,78,9.8
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-69.9
$GPS2,214150,2109.061,-15809.056,30,1.9,30,9.8
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SOUTH
$TGT_LATLONG,2105.463,-15858.408
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.209,-0.128
$KALMAN_X,18475.9,-648.8,-179.9,-36365.3,1071.6
$KALMAN_Y,7106.0,-292.2,-120.8,-20134.7,1193.7
$MHEAD_RNG_PITCHd_Wd,228.8,85538,-14.9,-8.032
$D_GRID,400
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.11,-146.0,0.0,0.0,0,64,0.00,0.00,-46.80,0.000,2,0.000,0.000,424,1895,2225
$GC,67,-1.11,-146.0,3.5,-6.4,8,98,12.15,2.38,-10.15,0.000,4,0.154,0.053,2609,544,2819
$GC,187,-1.11,-146.0,33.5,-16.8,27,194,0.00,2.25,0.00,0.000,6,0.000,0.020,2609,1925,2820
$GC,449,-1.11,-146.0,79.8,-18.3,52,453,0.00,2.40,0.00,0.000,4,0.000,0.044,2609,539,2820
$GC,492,-1.11,-146.0,88.4,-18.8,55,498,0.00,2.22,0.00,0.000,6,0.000,0.020,2609,1925,2820
$GC,753,-1.11,-146.0,129.5,-15.1,80,757,0.00,2.38,0.00,0.000,4,0.000,0.044,2609,544,2820
$GC,799,-1.11,-146.0,136.3,-14.3,83,805,0.00,2.22,0.00,0.000,6,0.000,0.020,2609,1929,2821
$GC,1059,-1.11,-146.0,170.1,-12.4,108,1063,0.00,2.40,0.00,0.000,4,0.000,0.044,2609,538,2821
$GC,1109,-1.11,-146.0,176.4,-12.9,112,1113,0.00,2.22,0.00,0.000,6,0.000,0.021,2609,1925,2821
$GC,1368,-1.11,-146.0,207.9,-11.1,133,1372,0.00,2.38,0.00,0.000,4,0.000,0.044,2609,546,2821
$GC,1396,-1.11,-146.0,211.3,-12.6,134,1399,0.00,2.22,0.00,0.000,6,0.000,0.022,2609,1927,2822
$GC,1716,-1.11,-146.0,246.7,-10.3,150,1720,0.00,2.33,0.00,0.000,4,0.000,0.044,2608,3318,2821
$GC,1740,-1.11,-146.0,249.1,-10.7,151,1744,0.00,2.28,0.00,0.000,6,0.000,0.029,2609,1951,2821
$GC,2066,-1.11,-146.0,284.5,-11.3,167,2070,0.00,2.47,0.00,0.000,4,0.000,0.049,2609,521,2820
$GC,2155,-1.11,-146.0,295.8,-12.4,171,2159,0.00,2.28,0.00,0.000,6,0.000,0.025,2609,1911,2820
$GC,2477,-1.11,-146.0,333.8,-11.8,180,2482,0.00,2.42,0.00,0.000,4,0.000,0.051,2608,522,2818
$GC,2510,-1.11,-146.0,337.9,-12.4,180,2516,0.00,2.33,0.00,0.000,6,0.000,0.064,2609,1932,2818
$GC,2841,-1.11,-146.0,372.8,-9.9,189,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1936,2816
$GC,3167,-1.11,-146.0,399.1,-7.7,197,3171,0.00,2.50,0.00,0.000,4,0.000,0.054,2608,514,2814
$STATE,3180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3180,begin apogee
$GC,3189,-0.31,0.0,400.4,7.7,197,3313,0.80,0.00,121.40,0.826,6,0.067,0.000,2785,1976,2220
$STATE,3314,end apogee,CONTROL_FINISHED_OK
$STATE,3314,begin climb
$GC,3317,1.11,146.0,403.4,0.0,200,3449,1.35,2.53,124.53,0.809,4,0.031,0.050,3101,571,1623
$GC,3706,1.26,265.7,401.6,3.6,209,3813,0.12,2.38,100.97,0.813,6,0.052,0.031,3137,1977,1135
$GC,4150,1.26,265.7,358.6,10.9,220,4154,0.00,2.50,0.00,0.000,4,0.000,0.054,3137,572,1129
$GC,4238,1.26,265.7,347.5,11.9,222,4243,0.00,2.38,0.00,0.000,6,0.000,0.032,3137,1970,1126
$GC,4563,1.26,265.7,311.9,11.2,230,4567,0.00,2.45,0.00,0.000,4,0.000,0.045,3137,3379,1126
$GC,4629,1.26,265.7,304.4,11.0,231,4633,0.00,2.42,0.00,0.000,6,0.000,0.035,3137,1971,1125
$GC,4955,1.26,265.7,268.5,10.8,246,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1970,1124
$GC,5265,1.26,265.7,236.2,9.8,261,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1970,1123
$GC,5573,1.26,265.7,205.3,11.0,276,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1970,1123
$GC,5891,1.26,265.7,175.1,9.1,303,5895,0.00,2.45,0.00,0.000,4,0.000,0.051,3137,564,1122
$GC,5913,1.26,265.7,173.0,9.7,304,5919,0.00,2.35,0.00,0.000,6,0.000,0.028,3137,1986,1121
$GC,6174,1.26,265.7,150.0,8.0,329,6178,0.00,2.35,0.00,0.000,4,0.000,0.038,3138,3378,1121
$GC,6368,1.26,265.7,133.0,9.5,346,6375,0.00,2.40,0.00,0.000,6,0.000,0.030,3137,1966,1121
$GC,6630,1.26,265.7,108.9,8.9,371,6634,0.00,2.42,0.00,0.000,4,0.000,0.046,3137,561,1121
$GC,6708,1.26,265.7,101.3,9.8,377,6714,0.00,2.33,0.00,0.000,6,0.000,0.024,3138,1982,1120
$GC,6969,1.33,320.2,84.3,6.0,402,7020,0.00,0.00,44.25,0.596,6,0.000,0.000,3138,1986,913
$GC,7275,1.34,331.2,61.6,7.6,431,7290,0.00,2.50,10.12,0.520,4,0.000,0.043,3137,557,868
$GC,7320,1.34,331.2,57.4,9.7,435,7324,0.00,2.33,0.00,0.000,6,0.000,0.022,3137,1979,867
$GC,7581,1.34,331.2,33.5,9.9,459,7585,0.00,2.45,0.00,0.000,4,0.000,0.044,3137,563,867
$GC,7637,1.34,331.2,27.3,11.3,465,7644,0.00,2.33,0.00,0.000,6,0.000,0.021,3138,1975,866
$GC,7846,1.34,331.2,6.2,9.8,502,7852,0.00,2.42,0.00,0.000,4,0.000,0.044,3137,562,867
$STATE,7857,end climb,SURFACE_DEPTH_REACHED
$STATE,7857,begin surface coast
$FINISH,4.4,1.023694
$STATE,7863,end surface coast,CONTROL_FINISHED_OK
$STATE,7863,begin surface
$SM_CCo,7887,56.72,0.522,0,0,589,400.08
$SM_GC,1.29,0.00,0.00,56.72,0.000,0.000,0.522,428,1932,589,-11.16,0.23,400.08
$IRIDIUM_FIX,2101.76,-15805.48,020598,212142
$TT8_MAMPS,0.029146
$HUMID,1602
$INTERNAL_PRESSURE,9.50862
$TCM_TEMP,22.40
$XPDR_PINGS,16
$24V_AH,23.4,6.598
$10V_AH,10.2,2.839
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.425,85.375,401.275,56.725,0.000,85.422,122.881,378.446,4.000,0.000,0.000,32.285,908.211,5421.945,506.609,1198.935,756.372,33.331,1125.132,0.000,1173.049,0.000,0.541,0.000
$DEVICE_MAMPS,154.167,63.661,826.059,521.560,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,339.020,337.338,498.606,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25338,505
$CAP_FILE_SIZE,80108,1
$CFSIZE,260165632,257253376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050209,235606,2108.613,-15810.177,24,1.7,24,9.8